EP3767413B1 - Dispositif de commande, système de commande, procédé de commande, et programme de commande - Google Patents

Dispositif de commande, système de commande, procédé de commande, et programme de commande Download PDF

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Publication number
EP3767413B1
EP3767413B1 EP19768630.6A EP19768630A EP3767413B1 EP 3767413 B1 EP3767413 B1 EP 3767413B1 EP 19768630 A EP19768630 A EP 19768630A EP 3767413 B1 EP3767413 B1 EP 3767413B1
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European Patent Office
Prior art keywords
control
propagation delay
delay time
control device
slave devices
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EP19768630.6A
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German (de)
English (en)
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EP3767413A1 (fr
EP3767413A4 (fr
Inventor
Yasushi YAMAWAKI
Taishi Kawaguchi
Kojiro BABA
Shigenori SAWADA
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Omron Corp
Original Assignee
Omron Corp
Omron Tateisi Electronics Co
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Publication of EP3767413A4 publication Critical patent/EP3767413A4/fr
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/403—Bus networks with centralised control, e.g. polling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/056—Programming the PLC
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/12—Discovery or management of network topologies
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0852—Delays
    • H04L43/0858—One way delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/40—Network security protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25006—Interface connected to fieldbus
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a technology for communicating control data in a predetermined cycle using a field bus system such as EtherCAT (registered trademark).
  • EtherCAT registered trademark
  • the FA systems include, for example, a control device and a plurality of slave devices, as described in Patent Literature 1.
  • the plurality of slave devices is a measurement instrument, a switch, a control driver, or the like, and a control target device is connected to the control driver.
  • control device and the plurality of slave devices communicate control data using a field bus system.
  • control device and the plurality of slave devices communicate control data in a preset control cycle (cyclic cycle).
  • Patent Literature 2 refers to a real-time distributed network module arranged to provide an interface between at least one master application and at least one real-time distributed network.
  • the real-time distributed network module comprises a first communications component arranged to transmit and receive real-time distributed network data over at least a first real-time distributed network connection, at least one further communications component arranged to transmit and receive real-time distributed network data over at least one further real-time distributed network connection at least one master application interface component arranged to provide an interface to the at least one master application, and at least one configuration component arranged to perform mapping of communication channels between the first communications component, the at least one further communications component and the at least one master application interface component.
  • a process may not be completed in all slave devices within a control cycle according to propagation delay times of the slave devices connected to the field bus, and synchronous control according to the control cycle may not be realized.
  • an objective of the present invention is to provide a technology capable of setting a control cycle at which a cyclic synchronous control can be reliably realized, at a high speed.
  • control cycle at which cyclic synchronous control can be reliably realized can be set at high speed.
  • Fig. 3 is a functional block diagram of the control device.
  • the control device 10 includes a control part 110, a communication management part 120, a communication driver 140, a propagation delay time storage part 130, and a user application processing part 150, as illustrated in Fig. 3 .
  • the communication management part 120 includes a control cycle determination part 122 and a propagation delay time measurement part 121.
  • the communication management part 120 is connected to the communication driver 140.
  • the communication driver 140 is connected to a slave device 211, a slave device 212, and a slave device 213 via a field network 30.
  • control device 10 the slave device 211, the slave device 212, and the slave device 213 perform communication of control data using a field bus system of the EtherCAT (registered trademark) via the field network 30.
  • EtherCAT registered trademark
  • the propagation delay time storage part 130 stores the respective propagation delay times of the slave device 211, the slave device 212, and the slave device 213.
  • the control cycle determination part 122 detects slave devices that are control targets, that is, the slave device 211, the slave device 212, and the slave device 213 connected to the field network 30, from a control program analyzed by the user application processing part 150.
  • the control cycle determination part 122 acquires the propagation delay times of the slave device 211, the slave device 212, and the slave device 213 from the propagation delay time storage part 130, and determines the control cycle with a time length enabling cyclic synchronous control on the basis of the propagation delay times thereof.
  • control device 10 can execute communication of the control data enabling the cyclic synchronous control to be realized without performing measurement of the propagation delay time at the time of each startup.
  • a control device, a control system, a control method, and a control program according to an embodiment of the present invention will be described with reference to the drawings.
  • a factory automation (FA) system will be described as an example of the control system.
  • Fig. 1 is a diagram illustrating a schematic configuration of a device in the control system.
  • the control system 1 includes a control device 10, a slave device 211, a slave device 212, a slave device 213, a field network 30, an information communication network 60, a personal computer 61, and a database device 62, as illustrated in Fig. 1 .
  • the field network 30 is a network conforming to, for example, EtherCAT (registered trademark) as a network standard.
  • the field network 30 is not limited thereto, and may be a network in which a controller transmits data in one frame to all slave devices logically connected to a ring network, and the slave device performs "on the fly" on the received frame, thereby realizing time synchronization.
  • the control device 10, the slave device 211, the slave device 212, and the slave device 213 are connected to one another by the field network 30.
  • the information communication network 60 is, for example, a network conforming to Ethernet (registered trademark) as a network standard.
  • the control device 10, the personal computer 61, and the database device 62 are connected to one another by the information communication network 60.
  • An editing tool for the control program, or the like is installed in the personal computer 61.
  • the personal computer 61 creates, edits, and outputs a control program for the control device 10, the slave device 211, and the slave device 212.
  • the personal computer 61 outputs the control program to the control device 10.
  • the slave device 211, the slave device 212, and the slave device 213, which are control targets, a control command for each of the slave devices, and the like are described in this control program.
  • the database device 62 stores, for example, logs of the respective devices acquired from the control device 10.
  • the control device 10 is specifically realized by, for example, a programmable logic controller (PLC).
  • PLC programmable logic controller
  • the control device 10 may be another device as long as the device communicates control data via the field network 30.
  • the control device 10 for example, generates control data to be communicated via the field network 30 using the control program from the personal computer 61.
  • the slave device 211, the slave device 212, and the slave device 213 are specifically realized by, for example, a servo driver, or a measurement device such as a sensor. These slave devices may be, for example, a robot device or a robot control device connected to the robot device.
  • the control device 10, the slave device 211, the slave device 212, and the slave device 213 communicate control data according to a control cycle to be described below, and execute operations and processes in synchronization with a predetermined timing based on the control cycle.
  • Fig. 2 is a block diagram illustrating a hardware configuration of the control device.
  • the control device 10 includes a CPU 101, a memory 102, a storage medium 103, a transmission and reception part 104, and a host communication part 105, as illustrated in Fig. 2 .
  • the CPU 101, the memory 102, the storage medium 103, the transmission and reception part 104, and the host communication part 105 are connected to one another by a data bus 100.
  • the CPU 101 reads a system program and a user application program stored in the storage medium 103 into the memory 102 and executes the program, thereby realizing each process of each functional block to be described below.
  • the memory 102 is realized by a volatile storage element such as a DRAM or an SRAM.
  • the storage medium 103 is realized by a nonvolatile storage medium such as a magnetic storage medium or a flash memory.
  • the transmission and reception part 104 is an interface of the field network 30 in the control device 10, and executes transmission and reception (communication) of control data conforming to a cyclic cycle.
  • the host communication part 105 is an interface of the information communication network 60 in the control device 10 and executes communication with each device (the personal computer 61, the database device 62, or the like) of a host system described above.
  • Fig. 3 is a functional block diagram of the control device.
  • the control device 10 includes the control part 110, the communication management part 120, the propagation delay time storage part 130, the communication driver 140, and the user application processing part 150, as illustrated in Fig. 3 .
  • the control part 110 performs, for example, scheduling of an overall operation (process) of the control device 10 to perform operation control of the communication management part 120 and operation control of the user application processing part 150.
  • the communication management part 120 executes scheduling of communication of the control data. Further, the communication management part 120 includes the propagation delay time measurement part 121 and the control cycle determination part 122.
  • the propagation delay time measurement part 121 measures the propagation delay time for each of the slave devices using a known propagation delay measuring method.
  • the propagation delay time measurement part 121 stores the measured propagation delay time in the propagation delay time storage part 130.
  • the propagation delay time storage part 130 stores the propagation delay time for each of the slave devices.
  • Fig. 4 is an image diagram illustrating a storage state of the propagation delay time.
  • the propagation delay time storage part 130 stores the propagation delay time in association with the slave device, as illustrated in Fig. 4 .
  • the propagation delay time includes an outbound propagation delay time and a return propagation delay time.
  • the outbound propagation delay time is a propagation delay time when control data is received from the control device 10 and transmitted to a slave device on the end side.
  • the return propagation delay time is a propagation delay time when control data is received from the slave device on the end side and transmitted to the control device 10.
  • the propagation delay time storage part 130 also stores a type of slave device in association therewith.
  • the measurement and storage of the propagation delay time have been executed in advance.
  • the control cycle determination part 122 determines the control cycle from the propagation delay time for each of the slave devices stored in the propagation delay time storage part 130.
  • the communication management part 120 executes scheduling of communication of control data using the control cycle.
  • the communication driver 140 executes control of the transmission and reception part 104 to communicate the control data via the field network 30 according to the cyclic cycle.
  • the user application processing part 150 executes the user application program described above. In this case, the user application processing part 150 acquires information on the slave devices, which are control targets, designated by the user application program.
  • Fig. 5 is a diagram illustrating an example of a scheduling model of control that is executed by the control device. This process is controlled by the control part 110.
  • the control device 10 executes an OUT process with a predetermined margin time from a start timing of the control cycle Tcyc.
  • the OUT process is a process of generating control data to be output to the slave device 211, the slave device 212, and the slave device 213, that is, control data to be output to the field network 30.
  • the IO process is a process of transmitting control data from the control device 10 and receiving the control data via all of the slave device 211, the slave device 212, and the slave device 213.
  • a synchronization timing ttxc is described in the control data, and the slave device 211, the slave device 212, and the slave device 213 execute a slave process after a preset predetermined time on the basis of this synchronization timing ttxc.
  • the slave device 211, the slave device 212, and the slave device 213 connected to the field network 30 can execute the processing in synchronization.
  • the IN process is a process of analyzing the control data returned via the slave device 211, the slave device 212, and the slave device 213 and acquiring necessary data.
  • the control device 10 sets a predetermined margin time after the IN process, and a next control cycle starts.
  • control device 10 determines the control cycle Tcyc at the time of start of control using the following method.
  • the control cycle determination part 122 acquires information on the slave devices, which are control targets, from the user application processing part 150.
  • the slave devices, which are control targets are the slave device 211, the slave device 212, and the slave device 213.
  • the control cycle determination part 122 reads the propagation delay times of the slave devices, which are control targets, from the propagation delay time storage part 130. In this case, when the propagation delay time for the slave device, which is a target, is not stored in the propagation delay time storage part 130, the control cycle determination part 122 reads the propagation delay time for the slave device of a matching type from the propagation delay time storage part 130.
  • the control cycle determination part 122 calculates a time in which the control device 10 can execute all processes and all the slave devices can end the processes, from the acquired slave device and propagation delay time, and determines the time to be the control cycle Tcyc.
  • measurement of the propagation delay time may be not performed every time at the time of start of control by using this configuration and process. Therefore, the control device 10 can start the control rapidly after startup.
  • control device 10 can accurately set the control cycle Tcyc even when the propagation delay time for the slave device, which is a target, is not stored in the propagation delay time storage part 130.
  • control device 10 may be realized by a computation processing device and a program that is executed by the computation processing device, and execute each process described above.
  • Fig. 6 is a flowchart illustrating a process of measuring and storing the propagation delay time for the slave device.
  • the control device 10 measures the propagation delay time (S11).
  • a known method can be used for measurement of the propagation delay time.
  • the control device 10 transmits a packet for measurement of the propagation delay time to the field network 30.
  • Each slave device generates a time stamp indicating a packet transmission time in an outbound propagation direction and stores the time stamp in the packet.
  • each slave device generates a time stamp indicating a packet reception time in a return propagation direction and stores the time stamp in the packet.
  • the control device 10 receives this packet and measures the outbound propagation delay time and the return propagation delay time from a difference between the transmission times of the respective slave devices and a difference between the reception times of the respective slave devices.
  • the control device 10 stores the propagation delay time for each of the slave devices (S 12).
  • the control device may acquire a type of slave device and store the type in association therewith.
  • Fig. 7 is a flowchart illustrating a process at the time of start of control. As illustrated in Fig. 7 , when the control device 10 starts up (S21), the control device 10 acquires information on slave devices, which are control targets, from a setting file (user application program) (S22).
  • S21 when the control device 10 starts up (S21), the control device 10 acquires information on slave devices, which are control targets, from a setting file (user application program) (S22).
  • the control device 10 reads the propagation delay time for each of the slave devices (S23). The control device 10 determines the control cycle Tcyc from the acquired propagation delay time (S24). The control device 10 starts cyclic control using the set control cycle Tcyc (S25).
  • the propagation delay time is stored in the control device.
  • the propagation delay time does not necessarily have to be stored in the control device, and may be stored in the database device 62 or each slave device.
  • the control device 10 may execute a process illustrated in Fig. 8 .
  • Fig. 8 is a flowchart illustrating a process at the time of start of control when the propagation delay time is externally stored. As illustrated in Fig. 8 , when the control device 10 starts up (S31), the control device 10 acquires information on slave devices, which are control targets, from a setting file (user application program) (S32).
  • S31 when the control device 10 starts up (S31), the control device 10 acquires information on slave devices, which are control targets, from a setting file (user application program) (S32).
  • the control device 10 acquires the propagation delay time for each of the slave devices from the outside (S33). For example, when the propagation delay time is stored in the database device 62, the control device 10 acquires the propagation delay time via the information communication network 60. Further, when the propagation delay time is stored in each slave device, the control device 10 acquires the propagation delay time via the field network 30.
  • the control device 10 determines the control cycle Tcyc from the acquired propagation delay time (S34). The control device 10 starts cyclic control using the set control cycle Tcyc (S35).

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Security & Cryptography (AREA)
  • Programmable Controllers (AREA)
  • Small-Scale Networks (AREA)
  • Communication Control (AREA)

Claims (6)

  1. Dispositif de commande (10), comprenant :
    une partie de traitement d'application utilisateur (150) configurée pour détecter des dispositifs esclaves (211, 212, 213), qui sont des cibles de communication de données de commande ayant été réglées en utilisant un outil de réglage, et les dispositifs esclaves sont reliés à un bus de terrain (30) ; et
    une partie de gestion de communication (120) configurée pour réaliser une gestion de communication conformément à un cycle de commande des données de commande,
    une partie de commande (110) configurée pour exécuter une commande d'opération de la partie de gestion de communication (120) et de la partie de traitement d'application utilisateur (150),
    la partie de gestion de communication (120) comprend une partie de détermination de cycle de commande (122) configurée pour déterminer le cycle de commande en utilisant un temps de retard de propagation préalablement stocké pour chacun des dispositifs esclaves (211, 212, 213) qui sont les cibles de communication des données de commande,
    la partie de commande (110) étant configurée pour exécuter un processus de génération de données de transmission par la partie de traitement d'application utilisateur (150), un processus de communication par la partie de gestion de communication (120), et un processus d'analyse de données reçues dans les données de commande par la partie de traitement d'application utilisateur (150) dans cet ordre, sur la base d'un processus de génération des données de transmission dans les données de commande par la partie de traitement d'application utilisateur (150),
    le dispositif de commande (10) et les dispositifs esclaves (211, 212, 213) sont reliés les uns aux autres par un réseau de terrain et le dispositif de commande (10) et les dispositifs esclaves (211, 212, 213) réalisent une communication de données de commande en utilisant le bus de terrain (30) via le réseau de terrain,
    la partie de gestion de communication (120) comprend une partie de mesure de temps de retard de propagation (121) configurée pour mesurer le temps de retard de propagation,
    le temps de retard de propagation est stocké en association avec un type d'un dispositif esclave, et
    le temps de retard de propagation inclut un temps de retard de propagation aller et un temps de retard de propagation retour.
  2. Dispositif de commande (10) selon la revendication 1, comprenant :
    une partie de stockage de temps de retard de propagation (130) configurée pour stocker le temps de retard de propagation.
  3. Système de commande (1) comprenant :
    le dispositif de commande (10) selon la revendication 1 ; et
    une base de données (62) reliée au dispositif de commande (10) via un réseau d'informations (60),
    dans lequel la base de données (62) comprend une partie de stockage de temps de retard de propagation (130) configurée pour stocker le temps de retard de propagation.
  4. Système de commande (1) comprenant :
    le dispositif de commande (10) selon la revendication 1 ; et
    les dispositifs esclaves (211, 212, 213) reliés au bus de terrain (130),
    dans lequel le dispositif esclave (211, 212, 213) comprend une partie de stockage de temps de retard de propagation (130) configurée pour stocker le temps de retard de propagation
  5. Procédé de commande réalisée par un dispositif de commande, le procédé comprenant :
    un processus de détection, par une partie de traitement d'application utilisateur (150), de dispositifs esclaves (211, 212, 213), qui sont des cibles de communication de données de commande ayant été réglées en utilisant un outil de réglage, et les dispositifs esclaves sont reliés à un bus de terrain (30) ; et
    un processus de réalisation, par une partie de gestion de communication (120), d'une gestion de communication conformément à un cycle de commande des données de commande,
    un processus d'exécution, par une partie de commande (110), d'une commande d'opération pour le processus de réalisation de gestion de communication et le processus de détection de dispositifs esclaves (211, 212, 213), dans lequel
    le processus de réalisation de gestion de communication comprend la détermination du cycle de commande en utilisant un temps de retard de propagation préalablement stocké pour chacun des dispositifs esclaves (211, 212, 213) qui sont les cibles de communication des données de commande,
    la partie de commande (110) exécute un processus de génération de données de transmission par la partie de traitement d'application utilisateur (150), un processus de communication par la partie de gestion de communication (120), et un processus d'analyse de données reçues dans les données de commande par la partie de traitement d'application utilisateur (150) dans cet ordre, sur la base d'un processus de génération des données de transmission dans les données de commande par la partie de traitement d'application utilisateur (150),
    le dispositif de commande (10) et les dispositifs esclaves (211, 212, 213) sont reliés les uns aux autres par un réseau de terrain et le dispositif de commande (10) et les dispositifs esclaves (211, 212, 213) réalisent une communication de données de commande en utilisant le bus de terrain (30) via le réseau de terrain,
    la partie de gestion de communication (120) comprend une partie de mesure de temps de retard de propagation (121) configurée pour mesurer le temps de retard de propagation,
    le temps de retard de propagation est stocké en association avec un type d'un dispositif esclave, et
    le temps de retard de propagation inclut un temps de retard de propagation aller et un temps de retard de propagation retour.
  6. Programme informatique comprenant des instructions qui, lorsque le programme est exécuté par un ordinateur, amènent l'ordinateur à réaliser toutes les étapes du procédé selon la revendication 5.
EP19768630.6A 2018-03-13 2019-01-22 Dispositif de commande, système de commande, procédé de commande, et programme de commande Active EP3767413B1 (fr)

Applications Claiming Priority (2)

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JP2018045135A JP6969455B2 (ja) 2018-03-13 2018-03-13 制御装置、制御システム、制御方法、および、制御プログラム
PCT/JP2019/001745 WO2019176287A1 (fr) 2018-03-13 2019-01-22 Dispositif de commande, système de commande, procédé de commande, et programme de commande

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EP3767413A1 EP3767413A1 (fr) 2021-01-20
EP3767413A4 EP3767413A4 (fr) 2021-11-10
EP3767413B1 true EP3767413B1 (fr) 2023-07-19

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US (1) US11251990B2 (fr)
EP (1) EP3767413B1 (fr)
JP (1) JP6969455B2 (fr)
CN (1) CN111033401B (fr)
WO (1) WO2019176287A1 (fr)

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JP2022107435A (ja) * 2021-01-08 2022-07-21 オムロン株式会社 コントローラ、設定装置、制御方法およびプログラム
US11969890B2 (en) * 2021-03-26 2024-04-30 Ubtech Robotics Corp Ltd Control method and control system using the same

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US11251990B2 (en) 2022-02-15
CN111033401B (zh) 2023-03-24
JP2019159754A (ja) 2019-09-19
WO2019176287A1 (fr) 2019-09-19
EP3767413A4 (fr) 2021-11-10
JP6969455B2 (ja) 2021-11-24
US20200186385A1 (en) 2020-06-11
CN111033401A (zh) 2020-04-17

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